Stabilization and tracking in the nonholonomic integrator via sliding modes

Systems and Control Letters

Volumn 29, Issue 2, 1996, Pages 91-99

  Bloch, Anthony ^a   Drakunov, Sergey ^b  

^a UNIVERSITY OF MICHIGAN   (United States)

^b Tulane University   (United States)

Author keywords

Nonholonomic system; Nonlinear control; Sliding modes

Indexed keywords

EID: 0002856941     PISSN: 01676911     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0167-6911(96)00049-7     Document Type: Article

References (24)

1. A.M. Bloch and S.V. Drakunov, Stabilization of non-holonomic systems via sliding modes, Proc. 33rd IEEE Conf. on Decision and Control (CDC), Orlando, Florida (1994) 2961-2963.
2. A.M. Bloch and S.V. Drakunov, Tracking in nonholonomic dynamic systems via sliding modes, Proc. 34th IEEE Conf. on Decision and control (CDC), New Orleans (1995) 2103-2106.
3. A.M. Bloch and S.V. Drakunov, Discontinuous stabilization of Brockett's canonical dritless system, Proc. IMA, to appear.
4. A.M. Bloch, M. Reyhanoglu and N.H. McClamroch, Control and stabilization of nonholonomic dynamic systems, IEEE Trans. Automat. Control 37 (1992) 1746-1757.
5. R.W. Brockett, Control theory and singular Riemannian geometry, in: P. Hilton and G. Young, eds., New Directions in Applied Mathematics (Springer, New York, 1981) 1-27.
6. R.W. Brockett, Asymptotic stability and feedback stabilization, in: R. Brockett, R. Millman and H. Sussmann, eds., Differential Geometric Control Theory (Birkhauser, Boston, 1983).
7. R.W. Brockett, Pattern generation and feedback control of nonholonomic systems, Proc. Workshop on Mechanics, Holonomy and Control (IEEE, New York, 1993).
8. C. Canudas de Wit and H. Khennouf, Quasi-continuous stabilizing controllers for nonholonomic systems: design and robustness considerations, Proc. European Control Conf., Rome, Italy, 1995.
9. J.-M. Coron, Global asymptotic stabilization for controllable nonlinear systems without drift, Math. Control Systems Signals 5 (1992) 295-312.
10. R.A. DeCarlo, S.H. Zak and G.P. Matthews, Variable structure control for nonlinear multivariable systems: a tutorial, IEEE Trans. Automat. Control 76 (1988) 212-232.
11. S.V. Drakunov and V.I. Utkin, Sliding mode control in dynamic systems, Internat. J. Control 55 (1992) 1029-1037.
12. A.F. Filippov, Differential equations with discontinuous right-hand side, Amer. Math. Soc. Trans. 42 (1964) 191-231.
13. A.F. Filippov, Differential Equations with Discontinuous Right-Hand Sides (Kluwer Academic Publishers, Boston, 1988).
14. J. Guldner and V.I. Utkin, Sliding mode control for gradient tracking and robot navigation using artificial potential fields, IEEE Trans. Robotics Automation 11 (1995) 247-254.
15. J.P. Hespanha, Stabilization of the nonholonomic integrator via logic-based switchings, Tech. Report, Yale University, 1995.
16. H. Khennouf and C. Canudas de Wit, On the construction of stabilizing discontinuous controllers for nonholonomic systems, Proc. IFAC Nonlinear Control Design Symp., Tahoe City, CA, 1995.
17. I. Kolmanovsky and N.H. McClamroch, Feedback stabilization of lower-order nonholonomic systems in power form, preprint, 1994.
18. W. Liu and H. Sussmann, Limits of highly oscillatory controls and the approximation of general paths by admissible trajectories, Proc. 30th CDC (IEEE, New York, 1991 437-432.
19. A.S. Morse, Control using logic based switching, in: A. Isidori, ed., Trend in Control, European Control Conf. (Springer, Berlin, 1995).
20. R. M'Closkey and R. Murray, Convergence rates for nonholonomic systems in power form, Proc. American Control Conf. (1993) 2967-2972.
21. R. Murray and S. Sastry, Nonholonomic motion planning: steering using sinusoids, IEEE Trans. Automat. Control 38 (1993) 700-716.
22. J.-B. Pomet, Explicit design of time-varying stabilizing control laws for a class of controllable systems without drift, Systems Control Lett. 18 (1992) 147-158.
23. H. Sira-Ramirez, On the sliding mode control of differentially flat systems, Control Theory Adv. Technol. 10 (1995) 1093-1113.
24. V.I. Utkin, Sliding Modes and their Application in Variable Structure Systems (Mir, Moscow, 1978).